%0 Journal Article
%T Robust Nonlinear PID Controllers for Anti-windup Design of Robot Manipulators with an Uncertain Jacobian Matrix<br>具有不确定雅可比矩阵机器人的鲁棒非线性PID控制器的抗饱和失效设计
%A HUANG Chun-Qing
%A PENG Xia-Fu
%A WANG Jun-Ping
%A <br>黄春庆
%A 彭侠夫
%A 王军平
%J 自动化学报
%D 2008
%I 
%X As for Cartesian regulation of robot manipulators with uncertain Jacobian matrix,an anti-windup scheme of robust nonlinear PID(RN-PID)controllers is proposed to solve the practical problems arising from integral action and integrator windup in PID-like control systems.Asymptotic stability is guaranteed while position and joint velocity measurements are only required; robustness of the resulting closed-loop system is also guaranteed due to the constraints acting on integral action.Especially,compared with other anti-windup approachs,the proposed algorithm is simpler and more effective for anti-windup design.
%K Robot manipulator
%K robust nonlinear PID
%K anti-windup
%K robustness
%K uncertain Jacobian<br>非线性
%K PID控制系统
%K 自动化系统
%K 设计方案
%K 矩阵
%U http://www.alljournals.cn/get_abstract_url.aspx?pcid=5B3AB970F71A803DEACDC0559115BFCF0A068CD97DD29835&cid=8240383F08CE46C8B05036380D75B607&jid=E76622685B64B2AA896A7F777B64EB3A&aid=2742985FBDC1C544B03CE3F56297774B&yid=67289AFF6305E306&vid=339D79302DF62549&iid=9CF7A0430CBB2DFD&sid=5348E91DA94080DE&eid=7D34DED3F877BD2D&journal_id=0254-4156&journal_name=自动化学报&referenced_num=0&reference_num=38